Modeling and Control of Multibody Systems

Abstract

Dynamics of a system of many bodies in space is formulated in a Hamiltonian setting. Typically there are symmetry groups associated to such problems, and one can reduce the phase space by these symmetry groups. Dynamics in the reduced phase space is determined by appropriate Poisson structure. Equilibria for specific cases are obtained and their stability examined using energy-Casimir method. Nonlinear control techniques including exact linearization are applied successfully. A global controllability theorem is proved and feedback stabilization is studied. Applications to robotics and multibody systems in space are discussed. Symbolic computational tools were used extensively in the research. OOPSS - an Object Oriented Planar System Simulator package has been developed to automatically generate, analyze, simulate and graphically display the dynamics of planar multibody systems.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1987
Accession Number
ADA444251

Entities

People

  • Narasingarao Sreenath

Organizations

  • University of Maryland

Tags

Communities of Interest

  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Abstracts
  • Availability
  • Classification
  • Contracts
  • Dynamics
  • Feedback
  • Information Operations
  • Instructions
  • Maryland
  • Monitoring
  • Robotics
  • Schools
  • Security
  • Simulators
  • Symmetry
  • Universities

Readers

  • Calculus or Mathematical Analysis
  • Control Systems Engineering.

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers